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| author | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-02 10:46:29 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2014-12-02 10:46:29 +0100 |
| commit | 4d91c61f8f5aaebd8bcf0add27591fafa9c41dbe (patch) | |
| tree | e970fa485cd808a7bf7cfa61c7b3bb761bd502b5 | |
| parent | dfb266565a2f1849ddd67460950b674a44eb6530 (diff) | |
| download | px4-firmware-4d91c61f8f5aaebd8bcf0add27591fafa9c41dbe.tar.gz px4-firmware-4d91c61f8f5aaebd8bcf0add27591fafa9c41dbe.tar.bz2 px4-firmware-4d91c61f8f5aaebd8bcf0add27591fafa9c41dbe.zip | |
add macros for easy 2d array support, builds on px4 test build
| -rw-r--r-- | src/examples/flow_position_estimator/flow_position_estimator_main.c | 3 | ||||
| -rw-r--r-- | src/include/px4.h | 2 | ||||
| -rw-r--r-- | src/include/px4_defines.h (renamed from src/platforms/px4_defines.h) | 7 |
3 files changed, 9 insertions, 3 deletions
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_main.c b/src/examples/flow_position_estimator/flow_position_estimator_main.c index 0b8c01f79..8cc9ed686 100644 --- a/src/examples/flow_position_estimator/flow_position_estimator_main.c +++ b/src/examples/flow_position_estimator/flow_position_estimator_main.c @@ -67,6 +67,7 @@ #include <systemlib/perf_counter.h> #include <systemlib/systemlib.h> #include <poll.h> +#include <px4_defines.h> #include "flow_position_estimator_params.h" @@ -337,7 +338,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[]) { float sum = 0.0f; for(uint8_t j = 0; j < 3; j++) - sum = sum + speed[j] * att.R[i][j]; + sum = sum + speed[j] * PX4_R(att.R, i, j); global_speed[i] = sum; } diff --git a/src/include/px4.h b/src/include/px4.h index 22d661b17..45068a6f7 100644 --- a/src/include/px4.h +++ b/src/include/px4.h @@ -59,7 +59,7 @@ #endif -#include "../platforms/px4_defines.h" +#include <px4_defines.h> #include "../platforms/px4_middleware.h" #include "../platforms/px4_nodehandle.h" #include "../platforms/px4_subscriber.h" diff --git a/src/platforms/px4_defines.h b/src/include/px4_defines.h index 84e5c8da0..2dd57940d 100644 --- a/src/platforms/px4_defines.h +++ b/src/include/px4_defines.h @@ -51,7 +51,6 @@ #define PX4_TOPIC_T(_name) _name #define PX4_SUBSCRIBE_CBMETH(_nodehandle, _name, _cbf, _obj, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), &_cbf, &_obj); #define PX4_SUBSCRIBE_CBFUNC(_nodehandle, _name, _cbf, _interval) _nodehandle.subscribe(PX4_TOPIC(_name), _cbf); - #else /* * Building for NuttX @@ -70,3 +69,9 @@ #define PX4_GET_SUBSCRIBE(_1, _2, _3, _4, _5, NAME, ...) NAME #define PX4_SUBSCRIBE(...) PX4_GET_SUBSCRIBE(__VA_ARGS__, PX4_SUBSCRIBE_CBMETH, PX4_SUBSCRIBE_CBFUNC)(__VA_ARGS__) #define PX4_ADVERTISE(_nodehandle, _name) _nodehandle.advertise<PX4_TOPIC_T(_name)>(PX4_TOPIC(_name)) + +/* wrapper for 2d matrices */ +#define PX4_ARRAY2D(_array, _ncols, _x, _y) (_array[_x * _ncols + _y]) + +/* wrapper for rotation matrices stored in arrays */ +#define PX4_R(_array, _x, _y) PX4_ARRAY2D(_array, 3, _x, _y) |